Build Docker Image Automatically for SLAM Environment at Ubuntu16.04

The following is the Dockerfile.  You can build the docker image with 'docker build' command , and then you can get a docker image  which has all libraries for SLAM , like Sophus, Eigen3, Ceres, G2O, PCL, Pangolin, OpenCV. And you can access this docker container with VNC Client. 
To get the Detailed information , please visit the github project:  
 https://github.com/shihezichen/slam_docker_ubuntu16.04_env_build
FROM dorowu/ubuntu-desktop-lxde-vnc
LABEL maintainer="shihezichen@live.cn"
RUN apt-get update \
&& apt-get install -y --no-install-recommends --allow-unauthenticated \
vim g++ unzip wget git git-core build-essential cmake doxygen \
freeglut3 freeglut3-dbg freeglut3-dev gfortran graphviz libgtk2.0-dev \
libatlas-base-dev libavcodec-dev libavformat-dev libeigen3-dev \
libboost-dev libboost-filesystem-dev libboost-system1.58-dev libboost-thread-dev \
libcholmod3.0.6 ccache libcxsparse3.1.4 libflann-dev libflann1.8 \
libgflags-dev libglew-dev libgoogle-glog-dev libgtest-dev libboost-all-dev libqhull* \
libjasper-dev libjpeg8-dev libpng-dev libtiff-dev libjpeg-dev libdc1394-22-dev liblapack-dev \
libphonon-dev libpng12-dev libqglviewer2 libqglviewer-dev libqhull-dev libopenexr-dev libpcap-dev \
libqt4-dev libsuitesparseconfig4.4.6 libsuitesparse-dev libswscale-dev liblapacke-dev \
libtbb-dev libtiff5-dev libudev-dev libusb-1.0-0-dev libusb-dev \
libv4l-dev libvtk5-dev libvtk5-qt4-dev libvtk-java libx264-dev libvtk5.10-qt4 libvtk5.10 qt5-default \
pkg-config python2.7-dev python3.5-dev python3-dev python-numpy python3-numpy python-vtk \
libtbb2 libtbb-dev qt4-qmake qt-sdk tcl-vtk pylint libxi-dev libxmu-dev libxvidcore-dev \
openjdk-8-jdk openmpi-bin openmpi-common openjdk-8-jre \
libxml2-dev libxslt-dev libffi-dev libsdl1.2-dev libssl-dev mono-complete mpi-default-dev \
liblapacke-dev checkinstall libopenblas-dev phonon-backend-gstreamer phonon-backend-vlc \
&& apt-get autoclean \
&& apt-get autoremove \
&& rm -rf /var/lib/apt/lists/*

RUN \
cd /root && \
wget --no-check-certificate -O Sophus-master.zip https://codeload.github.com/strasdat/Sophus/zip/master && \
unzip Sophus-master.zip && \
mkdir -p /root/Sophus-master/build && cd /root/Sophus-master/build && \
cmake -DCMAKE_BUILD_TYPE=RELEASE -DCMAKE_INSTALL_PREFIX=/usr/local .. && \
make -j"$(nproc)" && make install && \
cd /root && \
wget --no-check-certificate -O Pangolin-master.zip https://codeload.github.com/zzx2GH/Pangolin/zip/master && \
unzip Pangolin-master.zip && \
mkdir -p /root/Pangolin-master/build && cd /root/Pangolin-master/build && \
cmake -DCMAKE_BUILD_TYPE=RELEASE -DCMAKE_INSTALL_PREFIX=/usr/local .. && \
make -j"$(nproc)" && make install && \
cd /root && \
wget --no-check-certificate -O ceres-solver-master.zip https://codeload.github.com/ceres-solver/ceres-solver/zip/master && \
unzip ceres-solver-master.zip && \
mkdir -p /root/ceres-solver-master/build && cd /root/ceres-solver-master/build && \
cmake -DCMAKE_BUILD_TYPE=RELEASE -DCMAKE_INSTALL_PREFIX=/usr/local .. && \
make -j"$(nproc)" && make install && \
cd /root && \
wget --no-check-certificate -O g2o-master.zip https://codeload.github.com/RainerKuemmerle/g2o/zip/master && \
unzip g2o-master.zip && \
mkdir -p /root/g2o-master/build && cd /root/g2o-master/build && \
cmake -DCMAKE_BUILD_TYPE=RELEASE -DCMAKE_INSTALL_PREFIX=/usr/local .. && \
make -j"$(nproc)" && make install && \
cd /root && \
wget --no-check-certificate -O pcl-master.zip https://codeload.github.com/PointCloudLibrary/pcl/zip/master && \
unzip pcl-master.zip && \
mkdir -p /root/pcl-master/build && cd /root/pcl-master/build && \
cmake -DCMAKE_BUILD_TYPE=RELEASE -DCMAKE_INSTALL_PREFIX=/usr/local .. && \
make -j"$(nproc)" && make install

RUN \
cd /root && \
wget --no-check-certificate -O opencv-3.2.0.zip https://github.com/opencv/opencv/archive/3.2.0.zip && \
unzip opencv-3.2.0.zip && \
wget --no-check-certificate -O opencv_contrib-3.2.0.zip https://github.com/opencv/opencv_contrib/archive/3.2.0.zip && \
unzip opencv_contrib-3.2.0.zip && \
wget --no-check-certificate -O ippicv_linux_20151201.tgz https://g 4000
ithub.com/opencv/opencv_3rdparty/blob/ippicv/master_20151201/ippicv/ippicv_linux_20151201.tgz && \
mkdir -p /root/opencv-3.2.0/3rdparty/ippicv/downloads/linux-808b791a6eac9ed78d32a7666804320e && \
cp -p ippicv_linux_20151201.tgz /root/opencv-3.2.0/3rdparty/ippicv/downloads/linux-808b791a6eac9ed78d32a7666804320e && \
wget --no-check-certificate -O protobuf-cpp-3.1.0.tar.gz https://github.com/google/protobuf/releases/download/v3.1.0/protobuf-cpp-3.1.0.tar.gz && \
mkdir -p /root/opencv_contrib-3.2.0/modules/dnn/.download/bd5e3eed635a8d32e2b99658633815ef/v3.1.0/ && \
cp -p /root/protobuf-cpp-3.1.0.tar.gz /root/opencv_contrib-3.2.0/modules/dnn/.download/bd5e3eed635a8d32e2b99658633815ef/v3.1.0/ && \
mkdir -p /root/opencv-3.2.0/build && cd /root/opencv-3.2.0/build && \
cmake -D CMAKE_BUILD_TYPE=RELEASE -D CMAKE_INSTALL_PREFIX=/usr/local \
-D INSTALL_PYTHON_EXAMPLES=ON -D INSTALL_C_EXAMPLES=ON \
-D WITH_TBB=ON -D WITH_V4L=ON -D WITH_QT=ON -D WITH_GTK=ON -D WITH_OPENGL=ON \
-D BUILD_TESTS=OFF -D BUILD_PERF_TESTS=OFF \
-D WITH_IPP=ON -D WITH_FFMPEG=ON -D FORCE_VTK=ON \
-D BUILD_DOCS=OFF -DPYTHON_EXECUTABLE=$(which python) \
-D OPENCV_EXTRA_MODULES_PATH=/root/opencv_contrib-3.2.0/modules .. && \
make -j"$(nproc)" && make install

WORKDIR /root